Scope and Requirements for a Common Robotics Platform Library

[jhiggason]

1. Define the Scope and Requirements

A. Functionalities and Features

1. Sensor Integration

   • List all types of sensors you plan to use (IMUs, Ultra-Sonic, lidar, depth camera, magnetometer, barometer/temp, RGB Cameras, GPS)
   • Define the data format and frequency of readings.

2. Actuator Control

   • Detail the types of actuators (e.g., motors, servos) and their control requirements.
   • Specify control mechanisms (e.g., PWM, digital signals).

3. Communication Protocols

   • Identify the communication protocols required (I2C, SPI, UART, etc.).
   • Outline the data transfer rates and protocol-specific features needed.

4. Power Management

   • Define how the Teensy will manage power for sensors and actuators.
   • Include any necessary power regulation or distribution features.

5. Error Handling and Diagnostics

   • Plan for error detection and handling mechanisms.
   • Plan for a display of some sort
   • Consider diagnostic tools or functions for troubleshooting.

B. Hardware Interface

1. Pinout Configuration

   • Map out the Teensy pins to be used for different functions.

2. Physical Integration

   • Outline how the Teensy physically connects to the main board.
   • Plan for any necessary connectors or wiring schemes.

C. Compatibility and Scalability

1. microROS Integration

   • Define how the library will support microROS.
   • Plan for compatibility with ROS 2 on the Raspberry Pi or other SBC.

2. Scalability

   • Ensure the library can be easily expanded for additional sensors, actuators, or features.
   • Consider modular design to facilitate future enhancements.

D. Performance Requirements

1. Processing Speed and Efficiency

   • Specify the required response times and processing speeds.
   • Consider the computational load and memory usage.

2. Reliability and Robustness

   • Define reliability requirements, especially for critical functions.
   • Plan for robust operation under various conditions.

E. Future-Proofing

1. Updates and Maintenance

   • Outline a strategy for updating and maintaining the library.
   • Consider backward compatibility with future Teensy versions.

2. Adaptability to New Technologies

   • Keep provisions for integrating new sensors or communication protocols that may emerge.

F. Documentation and User Support

1. Documentation Standards

   • Plan for comprehensive documentation of the library.
   • Include code comments, API documentation, and user guides.

2. User Support

   • Consider how users will get support, possibly through forums, FAQs, or direct contact.

[jhiggason]

For A.1. We need to decide which sensors the platform will officially support. MPU-9250, encoders, and Ultra-sonic sensors seem like a no brainer.

Sensor Categories for Flying and Ground Robots

1. Navigation Sensors

• GPS Modules: For outdoor positioning and navigation.
• IMU (Inertial Measurement Units): Combines accelerometers, gyroscopes, and sometimes magnetometers for orientation and movement detection.
• Compasses: For directional orientation, especially important in environments where GPS is unreliable.

2. Environmental Sensors

• Barometric Pressure Sensors: For altitude estimation in flying robots.
• Temperature and Humidity Sensors: For monitoring environmental conditions.
• Gas Sensors: To detect various gases, useful in pollution monitoring or hazardous environment exploration.

3. Proximity and Distance Sensors

• Ultrasonic Sensors: For obstacle detection and range finding.
• LIDAR (Light Detection and Ranging): For high-precision distance measurement and mapping.
• Infrared Sensors: For short-range object detection and line following.

4. Vision and Imaging Sensors

• Cameras: Standard visual cameras for image capture and video streaming.
• Thermal Cameras: For heat signature detection, useful in search and rescue.
• 3D Cameras/Depth Sensors: For spatial mapping and object recognition.

5. Motion and Speed Sensors

• Encoders: For measuring rotation or linear motion, often used in wheels or joints.
• Gyroscopes: For measuring or maintaining orientation and angular velocity.
• Accelerometers: For measuring acceleration forces.

6. Tactile Sensors

• Touch Sensors: For detecting physical contact or collision.
• Force Sensors: For measuring the force exerted on a surface or object.

7. Acoustic Sensors

• Microphones: For sound detection, useful in voice-controlled applications or environmental monitoring.
• Sonar: Primarily used in underwater robotics for mapping and navigation.

8. Wireless Communication Sensors

• RFID Readers: For identification and tracking applications.
• Bluetooth Modules: For short-range wireless communication.
• Wi-Fi Modules: For internet connectivity and remote control.

9. Specialized Sensors

• Biological and Chemical Sensors: For detecting specific biological or chemical substances.
• Radiation Detectors: For measuring ionizing radiation, useful in nuclear facility inspection.

10. Power and Battery Sensors

• Voltage and Current Sensors: For monitoring the power usage and battery life.

[jhiggason]

I'm going to close this for the time being until I have time to back over this stuff and decide what really important.